TWI509171B - Tunnel ball screw - Google Patents
Tunnel ball screw Download PDFInfo
- Publication number
- TWI509171B TWI509171B TW103120762A TW103120762A TWI509171B TW I509171 B TWI509171 B TW I509171B TW 103120762 A TW103120762 A TW 103120762A TW 103120762 A TW103120762 A TW 103120762A TW I509171 B TWI509171 B TW I509171B
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- Prior art keywords
- groove
- screw shaft
- recirculation
- reflow
- screw
- Prior art date
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
- F16H25/2214—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls with elements for guiding the circulating balls
- F16H25/2228—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls with elements for guiding the circulating balls the device for circulation forming a part of the screw member
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
- F16H25/2214—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls with elements for guiding the circulating balls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
- Y10T74/19642—Directly cooperating gears
- Y10T74/19698—Spiral
- Y10T74/19702—Screw and nut
- Y10T74/19744—Rolling element engaging thread
- Y10T74/19749—Recirculating rolling elements
- Y10T74/19763—Roller return path in shaft
Description
本發明與滾珠螺桿有關，尤指一種可提升耐用度及循環穩定性之隧道式滾珠螺桿。The invention relates to a ball screw, and more particularly to a tunnel ball screw which can improve durability and cycle stability.
就滾珠螺桿的先前技術來說，例如日本第2010-090953號專利案是在螺桿之表面建構循環槽，使滾珠能藉由循環槽在螺桿之外螺紋槽內作循環移動，但是此一循環槽僅跨越單螺距，所以在低導程且導程與珠徑接近時，容易因為牙峰的厚度過薄而增加與滾珠之間發生碰撞損壞的風險。另外如中華民國第M472136號專利案也是採用讓循環槽跨越單螺距的類似設計，所以除了具有與上述專利案同樣的缺失之外，若改用跳牙的設計則會產生空間配置上的問題。再如日本第2005-201347號專利案是在螺桿之表面藉由段差設計來對滾珠提供導引效果，但是整體而言具有加工困難及循環穩定性差的問題。In the prior art of the ball screw, for example, in Japanese Patent No. 2010-090953, a circulation groove is constructed on the surface of the screw so that the ball can be cyclically moved in the thread groove outside the screw by the circulation groove, but the circulation groove It only spans a single pitch, so when the lead is low and the lead is close to the bead diameter, it is easy to increase the risk of collision damage with the ball because the thickness of the peak is too thin. In addition, as in the case of the Republic of China No. M472136, a similar design is adopted in which the circulation groove is spanned by a single pitch. Therefore, in addition to the same defect as the above patent, if the design of the skipping tooth is changed, a problem of spatial arrangement is caused. Further, as in Japanese Patent No. 2005-201347, the surface of the screw is designed to provide a guiding effect to the ball by the step design, but overall, it has a problem of difficulty in processing and poor cycle stability.
本發明之主要目的在於提供一種隧道式滾珠螺桿，其能提升耐用度、可靠度及循環穩定性。The main object of the present invention is to provide a tunnel type ball screw which can improve durability, reliability and cycle stability.
為了達成前述目的，本發明之隧道式滾珠螺桿包含有一螺帽，具有一內螺紋槽；一螺桿軸，可轉動地穿設於該螺帽，該螺桿軸之外表面對應該內螺紋槽具有複數外溝 槽、一第一迴流槽及一嵌槽；各該外溝槽依螺桿軸之軸向順序排列定義最前者為一前外溝槽，最後者為一後外溝槽；該第一迴流槽之兩端連接該前外溝槽之第一端及該後外溝槽之第二端；該嵌槽實質沿該第一迴流槽設置，且連通該前外溝槽之第二端及該後外溝槽之第一端及其餘外溝槽之兩端；一迴流元件，設於該螺桿軸之嵌槽內，該迴流元件之外表面對應該內螺紋槽具有數滾動槽，該滾動槽的數目為該外溝槽的個數減一，各該滾動槽對應於該螺帽之內螺紋槽，而分別依序銜接外溝槽之第二端及其後相鄰外溝槽之第一端，該滾動槽及該外溝槽銜接形成一外螺紋槽，該外螺紋槽及該內螺紋槽之間的空間形成一螺旋通道；該迴流元件之內表面具有一第二迴流槽，該第二迴流槽對應該螺桿軸之第一迴流槽而與該螺桿軸之第一迴流槽之間形成一迴流通道，該迴流通道分別銜接該螺旋通道；以及多數滾珠，可滾動地設於該迴流通道或螺旋通道內。其中該外溝槽的個數可以設計為3；或設計為大於3，以使該外螺紋槽之長度加長而增加設置該滾珠之個數。In order to achieve the above object, the tunnel ball screw of the present invention comprises a nut having an internally threaded groove; a screw shaft rotatably extending through the nut, the outer surface of the screw shaft corresponding to the internal thread groove having a plurality of Outer groove a groove, a first recirculation groove and a groove; each of the outer grooves is arranged in an axial order according to the axial direction of the screw shaft, and the first one is a front outer groove, and the last one is a rear outer groove; the first recirculation groove a first end of the front outer groove and a second end of the rear outer groove; the recess is substantially disposed along the first return groove, and communicates with the second end of the front outer groove and the rear a first end of the groove and two ends of the remaining outer groove; a reflow element disposed in the groove of the screw shaft, the outer surface of the reflow element having a plurality of rolling grooves corresponding to the inner thread groove, the number of the rolling groove The number of the outer grooves is reduced by one, and each of the rolling grooves corresponds to the inner thread groove of the nut, and sequentially connects the second end of the outer groove and the first end of the adjacent outer groove, respectively. The rolling groove and the outer groove are coupled to form an externally threaded groove, the space between the externally threaded groove and the internally threaded groove forms a spiral passage; the inner surface of the reflow element has a second recirculation groove, and the second reflow The groove forms a return passage corresponding to the first return groove of the screw shaft and the first return groove of the screw shaft, Flow channel of the spiral channel adapters respectively; and a plurality of balls, rollably disposed in said circulating passage or spiral passage. The number of the outer grooves may be designed to be 3 or designed to be greater than 3, so that the length of the outer thread groove is lengthened to increase the number of the balls.
藉此，本創作之隧道式滾珠螺桿將該迴流元件設置於該螺桿軸之外表面，使該螺帽、該螺桿軸及該迴流元件之間形成一封閉路徑讓該些滾珠達到迴流效果，如此就無需跳牙設計而能大幅縮減該螺帽的外徑，並且能夠避免在迴流時產生碰撞，以提升耐用度、可靠度及循環穩定性。Thereby, the tunnel screw of the present invention has the reflow element disposed on the outer surface of the screw shaft, so that a closed path is formed between the nut, the screw shaft and the reflow element to allow the balls to reflow. The outer diameter of the nut can be greatly reduced without the need for a jumper design, and collisions during reflow can be avoided to improve durability, reliability and cycle stability.
10‧‧‧隧道式滾珠螺桿10‧‧‧Tunnel ball screw
12‧‧‧螺旋通道12‧‧‧Spiral channel
16‧‧‧迴流通道16‧‧‧Return channel
20‧‧‧螺帽20‧‧‧ nuts
22‧‧‧內螺紋槽22‧‧‧Threaded groove
30‧‧‧螺桿軸30‧‧‧ Screw shaft
32‧‧‧外溝槽32‧‧‧outer trench
321‧‧‧前外溝槽321‧‧‧ Front outer groove
321A‧‧‧前外溝槽第一端321A‧‧‧ front outer groove first end
321B‧‧‧前外溝槽第二端321B‧‧‧ front outer groove second end
322‧‧‧中外溝槽322‧‧‧Chinese and foreign trenches
322A‧‧‧中外溝槽第一端322A‧‧‧The first end of the inner and outer grooves
322B‧‧‧中外溝槽第二端322B‧‧‧The second end of the inner and outer grooves
323‧‧‧後外溝槽323‧‧‧ rear outer groove
323A‧‧‧後外溝槽第一端323A‧‧‧The first end of the outer groove
323B‧‧‧後外溝槽第二端323B‧‧‧ rear outer groove second end
34‧‧‧嵌槽34‧‧‧Inlay
36‧‧‧第一迴流槽36‧‧‧First reflow tank
38‧‧‧第一承靠面38‧‧‧First bearing surface
40‧‧‧迴流元件40‧‧‧Reflux components
42‧‧‧滾動槽42‧‧‧ rolling trough
44‧‧‧第二迴流槽44‧‧‧Second reflow tank
46‧‧‧第二承靠面46‧‧‧Second bearing surface
50‧‧‧滾珠50‧‧‧ balls
52‧‧‧外螺紋槽52‧‧‧External thread groove
第1圖為本發明之第一實施例之立體圖。Figure 1 is a perspective view of a first embodiment of the present invention.
第2圖為本發明之第一實施例之立體分解圖。Fig. 2 is an exploded perspective view showing the first embodiment of the present invention.
第3圖為本發明之第一實施例之螺桿軸俯視圖。Figure 3 is a plan view of the screw shaft of the first embodiment of the present invention.
第4圖為本發明之第一實施例之迴流元件的立體圖。Figure 4 is a perspective view of a reflow element of the first embodiment of the present invention.
第5圖為本發明之第一實施例之迴流元件在另一視角的立體圖。Figure 5 is a perspective view of the reflow element of the first embodiment of the present invention at another angle of view.
第6圖為本發明之第一實施例之螺桿軸、迴流元件和滾珠組合圖。Figure 6 is a combination view of the screw shaft, the reflow element and the ball of the first embodiment of the present invention.
第7圖為本發明之第一實施例之縱向剖視圖，主要顯示迴流通道與螺旋通道。Figure 7 is a longitudinal cross-sectional view showing a first embodiment of the present invention, mainly showing a return passage and a spiral passage.
第8圖為本發明之第一實施例之橫向剖視圖，主要顯示螺桿軸之第一迴流槽與迴流元件之第二迴流槽之間的關係。Figure 8 is a transverse cross-sectional view of the first embodiment of the present invention, mainly showing the relationship between the first return groove of the screw shaft and the second return groove of the reflow element.
第9圖為本發明之第二實施例之縱向剖視圖。Figure 9 is a longitudinal cross-sectional view showing a second embodiment of the present invention.
請參閱第1~8圖，本發明之隧道式滾珠螺桿10之第一實施例包含有一螺帽20、一螺桿軸30、一迴流元件40，以及多數滾珠50。Referring to Figures 1-8, a first embodiment of the tunnel ball screw 10 of the present invention includes a nut 20, a screw shaft 30, a reflow element 40, and a plurality of balls 50.
螺帽20具有一內螺紋槽22。The nut 20 has an internally threaded slot 22.
螺桿軸可轉動地30穿設於螺帽20內且在外表面對應該內螺紋槽22具有複數外溝槽32，如第2~6圖所示，外溝槽32依螺桿軸之軸向順序排列區分為一前外溝槽321、一中外溝槽322和一後外溝槽323。螺桿軸30之外溝槽32開設有一嵌槽34與一弳向連通嵌槽34之第一迴流槽36，嵌槽34沿著螺桿軸30之軸向呈曲線狀延伸且跨過外溝槽32之多數 個螺距，第一迴流槽36之斷面形狀呈半圓形，第一迴流槽36之兩端分別連接前外溝槽321之第一端321A及後溝槽323之第二端323B，而且，第一迴流槽36之兩相對側分別具有一第一承靠面38。須說明的是，嵌槽34實質沿著第一迴流槽36設置，且連通前外溝槽321之第二端321B及中外溝槽322之兩端322A、322B，和後外溝槽323之第一端323A。The screw shaft is rotatably disposed in the nut 20 and has a plurality of outer grooves 32 corresponding to the inner thread groove 22 on the outer surface. As shown in FIGS. 2-6, the outer groove 32 is in the axial direction of the screw shaft. The arrangement is divided into a front outer groove 321 , a middle outer groove 322 and a rear outer groove 323 . The groove 32 of the screw shaft 30 defines a groove 34 and a first return groove 36 of the radial communication groove 34. The groove 34 extends in a curve along the axial direction of the screw shaft 30 and spans the outer groove 32. Majority The pitch of the first recirculation groove 36 is semi-circular, and the two ends of the first recirculation groove 36 are respectively connected to the first end 321A of the front outer groove 321 and the second end 323B of the rear groove 323, and The opposite sides of the first return groove 36 respectively have a first bearing surface 38. It should be noted that the recessed groove 34 is substantially disposed along the first return groove 36, and communicates with the second end 321B of the front outer groove 321 and the two ends 322A, 322B of the middle and outer groove 322, and the rear outer groove 323 One end 323A.
請再參閱第2~8圖，迴流元件40之外表面具有對應內螺紋槽22之滾動槽42，滾動槽42數目為中外溝槽322的數目加一(即外溝槽的總個數減一)，分別與前外溝槽321之第二端321B、中外溝槽322之第一端322A，及中外輪槽322之第二端322B和後外溝槽323之第二端323B銜接。滾動槽42與外溝槽32銜接形成一外螺紋槽52，外螺紋槽52與螺帽20之內螺紋槽22之間的空間形成一螺旋通道12。Referring to FIGS. 2-8 again, the outer surface of the reflow element 40 has a rolling groove 42 corresponding to the internal thread groove 22. The number of the rolling grooves 42 is the number of the middle and outer grooves 322 plus one (ie, the total number of outer grooves is reduced by one) The second end 321B of the front outer groove 321 , the first end 322A of the middle and outer groove 322 , and the second end 322B of the middle and outer wheel groove 322 and the second end 323B of the rear outer groove 323 are respectively engaged. The rolling groove 42 is engaged with the outer groove 32 to form an externally threaded groove 52. The space between the externally threaded groove 52 and the internally threaded groove 22 of the nut 20 forms a spiral passage 12.
還須說明的是，迴流元件40之內表面具有一第二迴流槽44，第二迴流槽44之斷面形狀呈半圓形，而且，第二迴流槽44之兩相對側邊分別具有一第二承靠面46。在組裝時，迴流元件40嵌設於螺桿軸30之嵌槽34內，使迴流元件40之第二承靠面46貼抵於螺桿軸30之第一承靠面38而完成組裝，在組裝完成之後，迴流元件40之第二迴流槽44對應螺桿軸30之第一迴流槽36而與螺桿軸30之第一迴流槽36之間形成一迴流通道16，迴流通道16分別銜接螺旋通道12。It should be noted that the inner surface of the reflow element 40 has a second reflow groove 44, and the cross-sectional shape of the second reflow groove 44 is semi-circular, and the opposite sides of the second reflow groove 44 have a first The second bearing surface 46. During assembly, the reflow element 40 is embedded in the recess 34 of the screw shaft 30, so that the second bearing surface 46 of the reflow element 40 abuts against the first bearing surface 38 of the screw shaft 30 to complete the assembly. Thereafter, the second return groove 44 of the reflow element 40 forms a return passage 16 between the first return groove 36 of the screw shaft 30 and the first return groove 36 of the screw shaft 30, and the return passage 16 respectively engages the spiral passage 12.
各滾珠50設於螺旋通道12或迴流通道16內，使得各滾珠50在螺桿軸30轉動的過程中能在螺旋通道12或迴流通道16內循環運行。其中，本發明之第一實施例之外溝 槽的個數為3。Each of the balls 50 is disposed within the spiral passage 12 or the return passage 16 such that each of the balls 50 can circulate in the spiral passage 12 or the return passage 16 during the rotation of the screw shaft 30. Wherein the outer trench of the first embodiment of the present invention The number of slots is 3.
請再參閱第9圖為本發明之第二實施例之縱向剖視圖，本發明之外溝槽的個數可設計為大於3，圖中包含一前外溝槽321及一後外溝槽323及兩中外溝槽322，總共具4外溝槽(321，322，323)以使該外螺紋槽52之長度加長而增加可容置之滾珠50之個數，並因而可以使本發明能承受較大的負荷。Please refer to FIG. 9 for a longitudinal cross-sectional view of a second embodiment of the present invention. The number of the outer grooves of the present invention can be designed to be greater than three, and includes a front outer groove 321 and a rear outer groove 323. The two outer and outer grooves 322 have a total of four outer grooves (321, 322, 323) to lengthen the outer thread groove 52 to increase the number of accommodating balls 50, and thus enable the present invention to withstand Big load.
由上述結構可知，本創作之隧道式滾珠螺桿10將迴流元件40嵌設於螺桿軸30之外表面且與螺桿軸30之間形成類似隧道的迴流通道16，同時再配合螺帽20與螺桿軸30之間所形成之螺旋通道12而讓該些滾珠50達到迴流效果，如此與習用各專利案相比之下，本創作之隧道式滾珠螺桿10無需跳牙設計而能大幅縮減螺帽20的外徑，並且能夠避免滾珠50在迴流時與其他元件產生碰撞，以提升整體結構的耐用度、可靠度及循環穩定性。It can be seen from the above structure that the tunnel type ball screw 10 of the present invention embeds the reflow element 40 on the outer surface of the screw shaft 30 and forms a tunnel-like return passage 16 with the screw shaft 30, and at the same time cooperates with the nut 20 and the screw shaft. The spiral passage 12 formed between the 30s allows the balls 50 to achieve a reflow effect, so that the tunnel type ball screw 10 of the present invention can greatly reduce the nut 20 without the need for a jump design in comparison with the conventional patents. The outer diameter and the ball 50 can be prevented from colliding with other components during reflow to improve the durability, reliability and cycle stability of the overall structure.
10‧‧‧隧道式滾珠螺桿10‧‧‧Tunnel ball screw
20‧‧‧螺帽20‧‧‧ nuts
22‧‧‧內螺紋槽22‧‧‧Threaded groove
30‧‧‧螺桿軸30‧‧‧ Screw shaft
32‧‧‧外螺紋槽32‧‧‧External thread groove
321‧‧‧前外溝槽321‧‧‧ Front outer groove
321A‧‧‧前外溝槽第一端321A‧‧‧ front outer groove first end
322‧‧‧中外溝槽322‧‧‧Chinese and foreign trenches
323‧‧‧後外溝槽323‧‧‧ rear outer groove
34‧‧‧嵌槽34‧‧‧Inlay
36‧‧‧第一迴流槽36‧‧‧First reflow tank
38‧‧‧第一承靠面38‧‧‧First bearing surface
40‧‧‧迴流元件40‧‧‧Reflux components
42‧‧‧滾動槽42‧‧‧ rolling trough
50‧‧‧滾珠50‧‧‧ balls
Claims (6)
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103120762A TWI509171B (en) | 2014-06-16 | 2014-06-16 | Tunnel ball screw |
| CN201410313530.1A CN105276114B (en) | 2014-06-16 | 2014-07-02 | Tunnel type ball screw |
| JP2014145909A JP5865446B2 (en) | 2014-06-16 | 2014-07-16 | Tube ball screw |
| KR1020140096262A KR101534057B1 (en) | 2014-06-16 | 2014-07-29 | Ball screw assembly having a tunnel raceway |
| DE102014113484.2A DE102014113484B3 (en) | 2014-06-16 | 2014-09-18 | Ball screw arrangement with tunnelled raceway |
| US14/503,885 US9400041B2 (en) | 2014-06-16 | 2014-10-01 | Ball screw assembly having a tunnel raceway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW103120762A TWI509171B (en) | 2014-06-16 | 2014-06-16 | Tunnel ball screw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI509171B true TWI509171B (en) | 2015-11-21 |
| TW201600765A TW201600765A (en) | 2016-01-01 |
Family
ID=53789171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW103120762A TWI509171B (en) | 2014-06-16 | 2014-06-16 | Tunnel ball screw |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9400041B2 (en) |
| JP (1) | JP5865446B2 (en) |
| KR (1) | KR101534057B1 (en) |
| CN (1) | CN105276114B (en) |
| DE (1) | DE102014113484B3 (en) |
| TW (1) | TWI509171B (en) |
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| TWM502765U (en) * | 2014-12-30 | 2015-06-11 | Hiwin Tech Corp | Circulating positioning structure for ball screw |
| CN106969110B (en) * | 2016-01-14 | 2019-03-19 | 上银科技股份有限公司 | The circulating ball screw of axis |
| JP6152435B1 (en) * | 2016-01-18 | 2017-06-21 | 上銀科技股▲分▼有限公司 | Axis circulation type ball screw |
| KR101790515B1 (en) * | 2016-03-15 | 2017-10-26 | 히윈 테크놀러지스 코포레이션 | Shaft circulation ball screw |
| DE102017109140B4 (en) * | 2017-04-28 | 2019-12-05 | Schaeffler Technologies AG & Co. KG | Ball Screw |
| US11041553B2 (en) * | 2019-05-14 | 2021-06-22 | Ametek, Inc. | Everted ball screw drive |
| BR112021023004A2 (en) | 2019-05-14 | 2022-01-04 | Ametek Inc | Linear actuator with everted ball screw drive |
| FR3100299B1 (en) * | 2019-09-02 | 2021-07-30 | Zodiac Actuation Systems | MULTI-TRACK BALL REVERSE SCREW |
| CN113028016B (en) * | 2019-12-24 | 2022-09-27 | 银泰科技股份有限公司 | External circulation ball screw with return pipe structure |
| KR20220146829A (en) * | 2021-04-26 | 2022-11-02 | 에이치엘만도 주식회사 | Steering apparatus for vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2016003763A (en) | 2016-01-12 |
| JP5865446B2 (en) | 2016-02-17 |
| KR101534057B1 (en) | 2015-07-06 |
| DE102014113484B3 (en) | 2015-09-24 |
| US20150362050A1 (en) | 2015-12-17 |
| TW201600765A (en) | 2016-01-01 |
| CN105276114A (en) | 2016-01-27 |
| CN105276114B (en) | 2017-08-15 |
| US9400041B2 (en) | 2016-07-26 |
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